Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

Jin, Maolin,Kang, Sang Hoon,Chang, Pyung Hun,Lee, Jinoh Institute of Electrical and Electronics Engineers 2017 IEEE/ASME Transactions on Mechatronics Vol. No.

<P>Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a 'mass'-'nonlinear damper'-'nonlinear spring' system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.</P>

투자자 심리와 배당공시에 대한 시장반응: 행동재무학적 관점에서의 접근

임병진(Yim, Byung-Jin),허지훈(Heo, Ji-Hun) 한국경영교육학회 2020 경영교육연구 Vol.35 No.1

[연구목적] 본 연구는 증권시장의 전반적인 투자자 심리가 높고 낮음에 따라 기업이 실질적으로 유리한 방향으로 배당정책을 운영하는지 여부와 투자자 심리에 대한 개별 주식 수익률의 민감도에 따라 배당정책 결정 및 투자자들의 시장반응이 상이하게 나타나는지를 검증해 보았다. [연구방법] 본 연구는 2005년부터 2015년까지 총 4,352개의 현금배당공시 중에서 주당 배당금의 증감이 이루어진 2,015개의 공시자료를 이용하여 로짓분석 및 회귀분석을 통해 배당증감 결정요인 및 투자자들의 시장반응을 투자자 심리와 투자자 심리에 대한 개별 주식수익률의 민감도를 중심으로 분석하였다. [연구결과] 투자자 심리와 배당금증감 여부 및 증감수준 사이에 유의적인 부(-)의 관계가 확인되어, 투자자 심리가 낮을 때, 경영자는 배당을 증가시키는 경향이 있으며 증감수준도 더 높은 것으로 나타났다. 또한, 시장에 대한 비관적인 전망이 강할 때, 투자자 심리에 대한 개별 주식수익률의 민감도가 낮은 기업들이 배당을 증가시키는 경향이 있음을 확인하였다. 다음으로, 투자자 수요와 일치하는 배당정책 결정에 대한 시장반응에서는 투자자 심리가 낮을 때, 배당증가 공시에 대한 시장반응이 더욱 긍정적으로 나타나 투자자 심리지수와 누적 비정상 수익률 사이에는 유의적인 부(-)의 관계가 존재함을 확인되었고, 투자자 심리가 낮을 때, 투자자 심리에 대한 기업의 주가수익률의 민감도가 낮은 그룹의 누적 비정상 수익률이 더 높은 것으로 나타나 투자자 심리에 대한 개별 주식수익률의 민감도와 누적 비정상 수익률 사이에 부(-)의 관계가 존재함을 확인하였다. [연구의 시사점] 지금까지의 기업의 배당증감 정책을 신호전달가설 및 대리인 문제 관점에서 설명하는 전통적인 재무이론과는 달리 행태 재무학적 관점에서 투자자 심리가 배당증감 정책과 시장반응에 미치는 영향을 분석한 연구로 이론적, 실무적 시사점을 제공하였다. [Purpose] Dividend policy may vary according to the overall investor sentiment of the market, but in addition, it can be changed depending on the sensitivity of individual stocks to the change in investor sentiment. This study aimed to determine whether the policy of increasing dividends and the sensitivity of individual stock returns to investor sentiment differ in the decision of dividend policy and the market response of investors. [Methodology] This study used 2,015 dividend announcement from 2005 to 2015 where dividends increased or decreased among 4,352 cash dividend announcement. In addition, this study analyzed the determinants of dividend increase and investor’s market response based on the sensitivity of individual stock returns to investor sentiment and investor sentiment using logit analysis and regression analysis. [Findings] First, there was a significant negative relationship between investor sentiment and dividend increase and decrease. This is consistent with our hypothesis that managers will tend to increase dividends when investor sentiment is low. In addition, the market response to dividend policy decisions consistent with investor demand was stronger when the investor sentiment was low. Finally, when the investor sentiment is low, the cumulative abnormal returns of companies with low sensitivity to stock returns on investor sentiment are higher, indicating a negative relationship between the sensitivity of individual stock returns to the investor sentiment and cumulative abnormal returns. [Implications] This study provides a study on the market response to dividend increase and decrease announcement from a behavioral and financial perspective using investor sentiment. It also be able to provide practical implications for investor’s decision making in investment.

급성충수돌기염으로 발현된 방선균증 2예

조진원,송진영,김창억,민영훈,최창순,우흥정,현인규,김종현,유기철,채승완,손진희 대한화학요법학회 2001 대한화학요법학회지 Vol.19 No.1

The Actinomyces species are normal flora of oral cavity and upper intestine characterized as gram-positive, non-spore-forming anaerobic or mjcroaerophilic rods. Actinomycosis is a chronic suppurative and granulomatous disease characterized by abscess, sinus, abundant granulation and mass. The appendix is the commonly involved site among abdominal actinomycosis. Abdominal actinomycosis is often difficult to diagnose before operation because of no reliable clinical features and infrequency of the disease. We report two cases of abdominal actinomycosis which were manifested as acute appendicitis. Those were detected Incidentally tv the pathologist after routine appendectomy. Both patients were successfully treated with appendectomy followed by proper antibiotics use.

In vivo transduction of ETV2 improves cardiac function and induces vascular regeneration following myocardial infarction

Lee, Sunghun,Lee, Dong Hun,Park, Bong-Woo,Kim, Riyoun,Hoang, Anh Duc,Woo, Sang-Keun,Xiong, Wenjun,Lee, Yong Jin,Ban, Kiwon,Park, Hun-Jun Nature Publishing Group UK 2019 Experimental and molecular medicine Vol.51 No.2

<▼1><P>Vascular regeneration in ischemic hearts has been considered a target for new therapeutic strategies. It has been reported that ETV2 is essential for vascular development, injury-induced neovascularization and direct cell reprogramming of non-endothelial cells into endothelial cells. Thus, the objective of this study was to explore the therapeutic potential of ETV2 in murine models of myocardial infarction in vivo. Direct myocardial delivery of lentiviral ETV2 into rodents undergoing myocardial infarction dramatically upregulated the expression of markers for angiogenesis as well as anti-fibrosis and anti-inflammatory factors in vivo. Consistent with these findings, echocardiography showed significantly improved cardiac function in hearts with induced myocardial infarction upon ETV2 injection compared to that in the control virus-injected group as determined by enhanced ejection fraction and fractional shortening. In addition, ETV2-injected hearts were protected against massive fibrosis with a remarkable increase in capillary density. Interestingly, major fractions of capillaries were stained positive for ETV2. In addition, ECs infected with ETV2 showed enhanced proliferation, suggesting a direct role of ETV2 in vascular regeneration in diseased hearts. Furthermore, culture media from ETV2-overexpressing cardiac fibroblasts promoted endothelial cell migration based on scratch assay. Importantly, intramyocardial injection of the adeno-associated virus form of ETV2 into rat hearts with induced myocardial infarction designed for clinical applicability consistently resulted in significant augmentation of cardiac function. We provide compelling evidence that ETV2 has a robust effect on vascular regeneration and enhanced cardiac repair after myocardial infarction, highlighting a potential therapeutic function of ETV2 as an efficient means to treat failing hearts.</P></▼1><▼2><P><B>Cardiovascular disease: New hope for healing the heart</B></P><P>A gene therapy strategy that stimulates cardiovascular repair could improve recovery for heart attack patients. Heart attacks inflict severe damage on the heart and blood vessels, tissues with limited capacity for self-repair. Researchers led by Kiwon Ban of the City University of Hong Kong and Hun-Jun Park of the Catholic University of Korea, Seoul, have now demonstrated that a gene responsible for cardiovascular development can also efficiently stimulate heart repair. They used viruses to deliver the gene into a mouse model of heart attack, and showed that treated heart tissues exhibited strong recovery relative to untreated controls. The treatment reduced scar tissue formation and promoted proliferation of the cells lining blood vessels and blood vessel formation, measurably improving heart function. This approach could lay the groundwork for treating a common potentially fatal event.</P></▼2>

정신분열병에 대한 리스페리돈의 효과 및 안정성

이민수,김용구,김영훈,연병길,오병훈,윤도준,윤진상,이철,정희연,강병조,김광수,김동언,김명정,김상훈,김희철,나철,노승호,민경준,박기창,박두병,백기청,백인호,손봉기,손진욱,양병환,양창국,우행원,이정호,이종범,이홍식,임기영,전태연,정영조,정영철,정인과,정인원,지익성,채정호,한상익,한선호,한진희,서광윤 大韓神經精神醫學會 1998 신경정신의학 Vol.37 No.1

연구목적 : 본 시험의 목적은 임상시험 시작전에 연구자들을 대상으로 PANSS Workshop을 통하여 PANSS, ESRS에 대한 국내에서의 표준화 작업을 구축하고 새로운 정신병 치료제인 리스페리돈의 효과와 안정성을 재확인하여 리스페리돈 사용에 대한 적정화를 이루는데 있다. 연구방법 : 1996년 4월부터 1996년 9월까지 국내 39개 대학병원 정신과에 입원중인 혹은 증상이 악화되어 입원하는 정신분열병 환자 377명을 대상으로 다시설 개방 연구를 시행하였다. 1주일간의 약물 배설기간을 가진후, 리스페리돈을 8주간 투여하였고, 기준점, 1주, 2주, 4주, 그리고 8주후에 평가되었다. 용량은 제1일에는 리스페리돈 1mg씩 1일 2회, 제2일에는 2mg씩 1일 2회, 제3∼7일에는 3mg씩 1일 2회 투여하였다. 이후 환자의 임상상태에 따라 임의로 증량할 수 있으며, 최대 일일 16mg을 초과하지 않도록 하였다. 추체외로 증상을 조절하기 위한 투약을 허용하였다. 임상증상 및 부작용의 평가는 PANSS(Positive and Negative Syndrome Scale), CGI(Clinical Global Impression) 그리고 ESRS(Extrapyramidal Symptom Rating Scale)을 사용하였다. 연구결과 : 377명중 343명(91%)이 8주간의 연구를 완결하였다. 치료 종결시점인 8주후 PANSS 총점수가 20% 이상 호전된 경우를 약물 반응군으로 정의할때, 약물반응군은 81.3%였다. 리스페리돈에 반응하는 예측인자로는 발병연령, 이전의 입원 횟수, 유병기간이 관련 있었다. 리스페리돈은 1주후부터 PANSS양성, 음성, 및 일반정신병리 점수상에 유의한 호전을 보여 효과가 빨랐다. CGI의 경우도 기준점에 비해 1주후부터 유의한 감소를 나타내었다. ESRS의 경우, 파킨슨 평가점수는 기준점과 비교해 투여 1주, 2주, 4주후 유의하게 증가되었다가 8주후 기준점과 차이가 없었다. Dystonia 평가점수는 1주후만 유의한 증가를 보였으며, dyskinesia 평가점수는 유의한 차이가 없었다. 혈압, 맥박수의 생명징후 및 일반 혈액학 검사, 생화학적 검사, 심전도 검사에서 유의한 변화는 없었다. 결 론 : 이상의 다시설 개방 임상 연구를 통해 리스페리돈은 정신분열병 환자에서 양성증상뿐만 아니라 음성증상 및 전반적인 증상에도 효과적인 것으로 사료된다. 보다 명확한 평가를 위해서는 다른 항정신병약물과의 이중맹검 연구가 필요할 것으로 생각되며, 또한 장기적 치료에 대한 평가도 함께 이루어져야 하겠다. Objective : The purpose of this study was to investigate the efficacy and safety of risperidone in the treatment of Korean schizophrenic patients. Method : This multicenter open study included 377 schizophrenic patients drawn from 39 university hospitals. After a wash-out period of 1 week, the schizophrenic patients were treated with risperidone for 8 weeks and evaluated at 5 points ; at baseline, and 1, 2, 4 and 8 weeks of treatment. The dose was increased from 2mg/day(1mg twice daily) to 6mg/day(3mg twice daily) during the first week and adjusted to a maximum of 16mg/day over the next 7 weeks according to the patient's clinical response. Medication to control extrapyramidal symptoms was permitted. The psychiatric and neurological status of the patients was assessed by PANSS, CGI, and ESRS scales. Results : 343(91%) of 377 patients completed the 8-week trial period. Clinical improvement, as defined by a 20% or more reduction in total PANSS score at end point, was shown by 81.3% of patients. The predictors of response to risperidone were associated older age, shorter duration of illness, fewer previous hospitalization. Risperidone had rapid onset of action ; a significant decrease of the total PANSS and three PANSS factor(positive, negative, general), and CGI was already noticed at the end of first week. For the ESRS, parkinsonism rating scores were significantly increased until week 4 comparing with baseline. Dystonia rating scores were significantly increased until week 1, and dyskinesia rating scores were not significantly changed during the study. Laboratory parameters including vital sign, EKG, hematological, and biochemical values showed no significant changes during the trial. Conclusions : This study suggests that risperidone is generally safe and effective against both the positive and negative symptoms in our group of patients.

승용 디젤엔진용 가변과급기 성능에 관한 연구

진영욱,정진은,조훈기,강우,정재우 한국기술교육대학교 2006 論文集 Vol.13 No.1

A test bench which is consisted of roots blower, air flow meter, driving unit for VGT actuator, transmitters for temperature and pressure, and the rotational speed sensor was developed to evaluate the characteristics of the VGT system. Measurements using VGT of the 2.0 L diesel engine were carried out. The corrected mass flow rate and the pressure ratio for the compressor of the VGT are related directly with the rotational speed, but they are independent of the rack position of the VGT. The pressure ratio and the corrected mass flow rate of the turbine of the VGT are related directly with the rack position of the VGT, but they don't have any relation with the rotational speed. The mechanical efficiency of the VGT is higher than the conventional turbocharger in the wide range. The efficiency at the 0.03 kg/s of the mass flow rate is 4.36 times as high as that of the conventional turbocharger. These data will be used to develop the new engine equipped with the VGT system.

폐흡충증에 同伴된 콜레스테롤 肪膜炎

陳憲成 全南大醫大 1964 전남의대학술지 Vol.1 No.2

출생전 흰쥐 콩팥에서 콩팥소체 벽상피 분화에 대한 아포프토시스의 역할

이승헌,김영희,김완영,차정호,김진,정진웅 대한해부학회 1997 Anatomy & Cell Biology Vol.30 No.6

수액 세트의 Drip Chamber를 이용한 상부소화관의 이물 제거 1예

서종훈,양미진,이진성,이상호,김정원 고신대학교 의과대학 2010 고신대학교 의과대학 학술지 Vol.25 No.2

In the upper gastrointestinal tract, in particular, there are parts consisting of esophageal sphincter muscles to carry out physiologic functions, which causes impairments when removed, as well as such complications as mucosal injuries, bleeding and even perforations in the case of foreign bodies with large size and/or sharp angles. Therefore, it is essential to use an appropriate type of supplementary instrument for a safe procedure. Frequently utilized supplementary instruments are overtube, protector hood, latex glove and transparent cap. We report a case in which authors were successful in removing a watch bend consisting of metal ring from gastric body while using a modification of a widely available drip chamber of fluid set attached to vertical end of endoscopic device.

여가활동 참여와 사회적지지, 자아 존중감 그리고 스트레스의 관계 : 서울소재 노인복지관 참여노인을 대상으로 Focusing on the Elderly Senior Centers Members in Seoul

성낙훈,백진우 한국스포츠리서치 2004 한국 스포츠 리서치 Vol.15 No.1

The purpose of this study was to examine the relationship of participation in leisure activities to social support, self-esteem, and stress among the elderly senior center members in Seoul. Also, the samples of this study were collected by using quota sampling method and the total subject were 600. The statistical methods used in this study were frequency analysis, confirmatory factor analysis, and SEM(Structural Equation Modeling) analysis. After analyzing the data, the results of this study is that leisure activity had a positive relation with social support and self-esteem. However, leisure activity had a negative relation with stress.